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WO2016053657A1 - Mise à l'échelle d'entrée dynamique pour commandes de système chirurgical robotique - Google Patents

Mise à l'échelle d'entrée dynamique pour commandes de système chirurgical robotique Download PDF

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Publication number
WO2016053657A1
WO2016053657A1 PCT/US2015/051130 US2015051130W WO2016053657A1 WO 2016053657 A1 WO2016053657 A1 WO 2016053657A1 US 2015051130 W US2015051130 W US 2015051130W WO 2016053657 A1 WO2016053657 A1 WO 2016053657A1
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WO
WIPO (PCT)
Prior art keywords
distance
velocity
movement
scaling factor
scaling
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/US2015/051130
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English (en)
Inventor
Brock KOPP
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Covidien LP
Original Assignee
Covidien LP
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Covidien LP filed Critical Covidien LP
Priority to CN201580052518.2A priority Critical patent/CN106714722A/zh
Priority to JP2017511613A priority patent/JP2017529907A/ja
Priority to US15/514,915 priority patent/US20170224428A1/en
Priority to EP15847706.7A priority patent/EP3200716A4/fr
Publication of WO2016053657A1 publication Critical patent/WO2016053657A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Leader-follower robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/74—Manipulators with manual electric input means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/77—Manipulators with motion or force scaling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1646—Programme controls characterised by the control loop variable structure system, sliding mode control
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42352—Sliding mode controller SMC, select other gain

Definitions

  • Robotic surgical systems have been used in minimally invasive medical procedures.
  • a surgeon moved an input controller of the robotic surgical system to control a robot arm and surgical instrument attached thereto.
  • the input controller was moveable within a limited range of motion to control the movement of the robot arm and/or surgical tool.
  • the surgeon decoupled or "clutched out" the movement of the input controller from the movement of the robot arm to continue moving the tool in the same direction.
  • One advantage of a robotic surgical system was the ability to scale down the movement of the input controller.
  • a large movement of the input controller was reduced to a smaller movement of the surgical tool.
  • This scaling down of movement allowed the surgeon to be more precise during a robotic surgical procedure than a traditional surgical procedure.
  • the Outputdistance i.e., movement of the robotic system
  • the Inputdistance i.e., movement of the input controller
  • Sf scaling factor
  • the scaling down of movement also minimized small jitters, shaking, or tremors in the movement of the surgeon.
  • a disadvantage of scaling down the movement of the input controller was the exacerbation of the limited range of motion of the input controller. As the scaling factor increased, the surgeon was required to "clutch out" more frequently as the input controller had to be moved further for the tool to travel a similar distance and therefore reached a limit in its range of motion faster.
  • a robotic surgical system may include a robotic arm supporting a surgical tool, an input controller movable in at least three dimensions, a sensor, and a processing unit.
  • the sensor may detect a movement distance, velocity, and/or acceleration of the input controller as the input controller is moved in the at least three dimensions.
  • the processing unit may be operatively associated with the robotic arm to move the tool an output distance.
  • the processing unit may also be configured to dynamically scale the movement distance based on the movement velocity or acceleration and calculate the output distance from the dynamic scaling.
  • the sensor may be configured to send signals indicative of the movement distance, velocity, and/or acceleration of the input controller to the processing unit.
  • the processing unit may be configured to calculate the output distance in different way. For example, the processing unit may calculate the output distance by multiplying the movement distance by the movement velocity or the processing unit may calculate the output distance by multiplying the movement distance by a predetermined scaling factor that varies depending the movement velocity and/or acceleration.
  • the predetermined scaling factor may be a first value when the movement velocity and/or acceleration are within a first range and a second value when the velocity and/or acceleration are within a second range different from the first range.
  • the processing unit may be configured to scale the movement distance by a distance, velocity, and/or acceleration scaling factor.
  • the scaling factor(s) may be constant or may vary. At least one of the scaling factors may be changeable before or during a surgical procedure. At least one of the scaling factors may be in a range of about 1 to about 10 in some instances, but in other instances the range may be different.
  • the processing unit may be configured to scale the output distance to the product of the input distance over the distance scaling factor and the input velocity over the velocity scaling factor.
  • the robotic surgical system may also include a motor in communication with the processing unit.
  • the motor may be configured to move the robotic arm in response to a scaled control signal received from the processing unit.
  • a method of operating a surgical robot may include moving a tool of a robotic surgical system an output distance that is dynamically scaled by a processing device based on at least one of a distance, speed, and acceleration at which an input controller is moved.
  • a control signal indicative of a distance, speed, and/or acceleration at which the input controlled is moved may be sent to the processing unit.
  • a scaled control signal may be sent to an arm of the robotic surgical system to move the tool the output distance.
  • Dynamically scaling the control signal may include dividing the input velocity by a velocity scaling factor. Additionally or alternatively, dynamically scaling the control signal may include dividing the input distance by a distance scaling factor, calculating the output distance from the product of the input distance over a distance scaling factor and the input velocity over a velocity scaling factor, and/or adjusting at least one of the distance scaling factor or the velocity scaling factor.
  • FIG. 1 is a schematic illustration of a user interface and a robotic console.
  • FIG. 2 shows exemplary methods
  • a scaling factor that scales down movement of the input controller may be dynamically adjusted as the input controller is moved by a user during surgery.
  • the dynamic adjustment of the scaling factor may be based on a speed or acceleration at which the user moves the input controller. If the user moves the input controller more quickly, then the scaling factor may be reduced so that the associated robotic arm and/or surgical tool moves proportionately further than if the user moved the input controller at a slower speed. If the user moves the input controller slower, then the scaling factor may be increased so that the associated robotic arm and/or surgical tool move proportionately less than at the faster speed.
  • a clinician may include a doctor, a nurse, or any other care provider and may include support personnel.
  • a proximal portion of a device or component may refer to a portion that is closest to a clinician and/or closer to the clinician than a distal portion, which may be located farthest from the clinician.
  • a robotic surgical system 1 in accordance with the present disclosure is shown generally as a robotic system 10, one or more sensors 11, a processing unit 30, and a user interface 40.
  • the robotic system 10 generally includes a plurality of arms 12 and a robot base 18.
  • An end 14 of each of the arms 12 supports an end effector or tool 20 which is configured to act on tissue.
  • the ends 14 of the arms 12 may include an imaging device 16 for imaging a surgical site "S" adjacent the tool 20.
  • the user interface 40 is in communication with robot base 18 through the processing unit 30.
  • the user interface 40 includes a display device 44 which is configured to display images.
  • the display device 44 may display two- or three-dimensional images of the surgical site "S" which may include data captured by imaging devices 16 positioned on the ends 14 of the arms 12 and/or include data captured by imaging devices (not shown) that are positioned about the surgical theater (e.g., an imaging device positioned within the surgical site "S", an imaging device positioned adjacent the patient "P").
  • the imaging devices e.g., imaging device 16
  • the imaging devices transmit captured imaging data to the processing unit 30 which creates the three- dimensional images of the surgical site "S" in real-time from the imaging data and transmits the three-dimensional images to the display device 44 for display.
  • Imaging devices 16 may be tools 20 or otherwise integrated with the tools 20.
  • the user interface also includes input controllers 42 which allow a surgeon to manipulate the robotic system 10 (e.g., move the arms 12, the ends 14 of the arms 12, and/or the tools 20). Each of the input controllers 42 is in communication with the processing unit 30 to transmit control signals thereto and to receive feedback signals therefrom.
  • each of the input controllers 42 may include control interfaces (not shown) which allow the surgeon to manipulate (e.g., clamp, grasp, fire, open, close, rotate, thrust, slice, etc.) the tools 20 supported at the ends 14 of the arms 12.
  • An input controller 42 may include one or more sensors 11.
  • a sensor 11 may detect a movement distance and/or a movement velocity of the input controller as the input controller is moved in the at least three dimensions.
  • a sensor 11 may be integrated into the input controller 42, but in other instances, a sensor 11 may be located away from the input controller 42.
  • a position sensing detector or an image sensor such as a CCD or CMOS sensor may be directed toward a portion of the input controller 42 to detect a movement distance and/or speed of the input controller without necessarily being located on or in the input controller 42.
  • Each of the input controllers 42 is moveable through a predefined three-dimensional range of motion to move the tools 20 within a surgical site "S.”
  • the three-dimensional images on the display device 44 are orientated such that the movement of the input controller 42 moves the tools 20 as viewed on the display device 44.
  • the orientation of the three-dimensional images on the display device may be mirrored or rotated by the clinician to a desired viewing orientation to permit the surgeon to have a better view or orientation to the surgical site "S”.
  • the size of the three-dimensional images on the display device 44 may be scaled to be larger or smaller than the actual structures of the surgical site permitting the surgeon to have a better view of structures within the surgical site "S”.
  • the tools 20 are moved within the surgical site "S” as detailed below.
  • movement of the tools may include moving the ends 14 of the arms 12 which support the tools 20.
  • the movement of the tools 20 is scaled relative to the movement of the input controllers 42.
  • the input controllers 42 send control signals to the processing unit 30.
  • the processing unit 30 analyzes the control signals to move the tools 20, in response to the control signals.
  • the processing unit 30 transmits scaled control signals to the robot base 18 to move the tools 20 in response to the movement of the input controllers 42.
  • the processing unit 30 scales the control signals by dividing an Inputdistance (e.g., the distance moved by one of the input controllers 42) by a distance scaling factor DSf to arrive at a scaled Outputdistance (e.g., the distance that one of the tools 20 is moved).
  • the distance scaling factor DSf is in a range between about 1 and about 10 (e.g., 3), but in other instances, other scaling factors may be used. This portion of the scaling equation is represented by the following equation:
  • the larger the distance scaling factor DSf the smaller the movement of the tools 20 relative to the movement of the input controllers 42.
  • the surgeon if the surgeon reaches the edge or limit of the predefined range of motion of an input controller 42, the surgeon must clutch the input controller 42 (i.e., reposition the input controller 42 back within the predefined range of motion) before continuing to move the input controller 42 in the same direction.
  • the surgeon may be required to clutch the input controller 42 one or more times to complete a single action (e.g., cutting a structure within the surgical site "S") during a surgical procedure.
  • the distance scaling factor DSf is increased, the surgeon may be required to clutch the input controller 42 more frequently, which increases the number of steps and thus, the time and/or costs of the surgical procedure.
  • the processing unit 30 may dynamically scale the control signals to account for an Input ve i 0 city (e.g., the speed and/or acceleration at which the input controllers 42 are moved). In some instances, the control signals may be dynamically scaled to account for an acceleration of the input controllers in addition to or instead of the velocity.
  • the term input Inputveiocity may refer to a speed at which the input controllers 42 are moved, an acceleration at which the input controllers 42 are moved, or both a speed and acceleration at which the input controllers 42 are moved.
  • the processing unit 30 may dynamically scale the Input ve i 0 city by a velocity scaling factor VSf and multiply the result by the result of the Inputdista n ce divided by the distance scaling factor DSf.
  • the velocity scaling factor VSf is in a range between about 1 and about 10 (e.g., 1.5, 2, or 3), but in other instances other scaling factors may be used.
  • This dynamic scaling may be represented by the following equation:
  • Outputdistance (Inputdistance DSf) * (Input ve locity VSf) It will be appreciated that the larger the velocity scaling factor VSf the less the velocity will affect the Output d istance.
  • Including the Input ve i 0 city in the scaling of the movement of the ends 14 of the arms 12 allows for dynamic scaling of the movement of the ends 14.
  • the dynamic scaling allows the surgeon to perform small precise motions while also being able to move a large distance quickly without clutching.
  • actions that benefit from a single continuous stroke e.g., cutting
  • the scaling factor DSf and the velocity scaling factor VSf may remain constant during a single action.
  • the distance scaling factor DSf and the velocity scaling factor VSf may be initially fixed at the time of manufacturing or programming of the processing unit 30, and then may be selectively switched into a dynamically adjustable mode prior to each surgical procedure, or may be selectively switched into the dynamically adjustable mode by the surgeon during the surgical procedure.
  • FIG. 2 shows an exemplary method of operating a surgical robot.
  • a movement distance, velocity, and/or acceleration of an input controller of a robotic surgical system moveable in at least three dimensions is identified.
  • the movement distance, velocity, and/or acceleration of the input controller may be sensed from one or more sensors that may be integrated into the input controller or separate from the input controlled.
  • the identified movement distance is dynamically scaled based on at least one of the identified movement velocity and acceleration.
  • a control signal based on the dynamically scaled movement distance may be sent to the robotic arm.
  • the dynamic scaling may include one or more of the algorithms discussed herein and/or other algorithms.
  • dynamic scaling may include multiplying the identified movement distance by the identified movement velocity and/or acceleration.
  • the dynamic scaling may also include dividing the identified movement velocity by a velocity scaling factor.
  • the dynamic scaling may also include dividing the identified movement distance by a distance scaling factor. At least one of the distance scaling factor or the velocity scaling factor may be adjusted based on a predetermined criterion.
  • the criterion may include a type of tool attached to a robotic arm, a type of robotic arm coupled to the input controller, a user selected function or feature associated with a predetermined scaling factor, or other predetermined criterion.
  • the dynamic scaling may include calculating a product of the movement distance divided by a distance scaling factor and the movement velocity and/or acceleration divided by a velocity scaling factor.
  • a surgical tool coupled to a robotic arm is moved based on the dynamically scaled movement distance.
  • the robotic arm may be moved based on the control signal received at the robotic arm, the moving of the robotic arm moving the surgical tool.
  • two or more different movement velocities of the input controller may be detected over a predetermined time. This may occur if a user changes the speed at which they are moving the input controller by, for example, suddenly accelerating or decelerating.
  • the scaling of the movement distance may be dynamically updated for each of the respective detected movement velocity changes.
  • the surgical tool may be moved by different relative amounts according to the updated dynamic scaling, so that the relative movement amount changes as a dynamic scaling value changes.

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • Medical Informatics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

La présente invention concerne un système chirurgical robotique qui comprend un bras, un outil, un dispositif de commande d'entrée, et une unité de traitement. Le bras comprend une extrémité qui soutient l'outil qui est mobile d'une distance de sortie dans un site chirurgical. Le dispositif de commande d'entrée est mobile d'une distance d'entrée à une vitesse et une accélération d'entrée. L'unité de traitement est en communication avec le dispositif de commande d'entrée et est fonctionnellement associé au bras pour déplacer l'outil de la distance de sortie. L'unité de traitement est configurée pour mettre à l'échelle de façon dynamique la distance de sortie en réponse à la distance, la vitesse et/ou l'accélération d'entrée.
PCT/US2015/051130 2014-09-29 2015-09-21 Mise à l'échelle d'entrée dynamique pour commandes de système chirurgical robotique Ceased WO2016053657A1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
CN201580052518.2A CN106714722A (zh) 2014-09-29 2015-09-21 用于控制机器人手术系统的动态输入缩放
JP2017511613A JP2017529907A (ja) 2014-09-29 2015-09-21 ロボット外科手術システムの制御のための動的入力スケーリング
US15/514,915 US20170224428A1 (en) 2014-09-29 2015-09-21 Dynamic input scaling for controls of robotic surgical system
EP15847706.7A EP3200716A4 (fr) 2014-09-29 2015-09-21 Mise à l'échelle d'entrée dynamique pour commandes de système chirurgical robotique

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201462056767P 2014-09-29 2014-09-29
US62/056,767 2014-09-29

Publications (1)

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WO2016053657A1 true WO2016053657A1 (fr) 2016-04-07

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PCT/US2015/051130 Ceased WO2016053657A1 (fr) 2014-09-29 2015-09-21 Mise à l'échelle d'entrée dynamique pour commandes de système chirurgical robotique

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Country Link
US (1) US20170224428A1 (fr)
EP (1) EP3200716A4 (fr)
JP (1) JP2017529907A (fr)
CN (1) CN106714722A (fr)
WO (1) WO2016053657A1 (fr)

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CN109171965A (zh) * 2018-09-27 2019-01-11 上海电气集团股份有限公司 基于虚拟夹具的机器人的控制方法及系统
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